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Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applications [article]

Tim Welschehold, Nichola Abdo, Christian Dornhege, Wolfram Burgard
2019 arXiv   pre-print
Accordingly, we leverage a probabilistic framework based on Monte Carlo tree search to compute sequences of feasible actions imitating the teacher intention in new settings without requiring the teacher  ...  Learning from demonstrations is a promising paradigm for transferring knowledge to robots.  ...  We use the adapted demonstrated trajectories to learn models for a combined motion of the robot's base and end-effector described by their pose, velocity, and acceleration.  ... 
arXiv:1908.10184v1 fatcat:2zknf2k2fjdnbflnqvzznrrbm4

Infants show stability of goal-directed imitation

Elena Sakkalou, Kate Ellis-Davies, Nia C. Fowler, Elma E. Hilbrink, Merideth Gattis
2013 Journal of Experimental Child Psychology  
We reasoned that if selective imitation of goal-directed actions reflects understanding of intentions, infants should demonstrate stability across perceptually and causally dissimilar imitation tasks.  ...  Infants who selectively imitated goal-directed actions in an object-cued task at 13 months also selectively imitated goal-directed actions in a vocal-cued task at 14 months.  ...  We thank Barbara Carotti for her help with coding of the data and Sylwia Matuszewska for her help during the monthly participant meetings.  ... 
doi:10.1016/j.jecp.2012.09.005 pmid:23073368 fatcat:abq436i4lbe33llbqochrhvgoe

Top-down and bottom-up processes during observation: Implications for motor learning

James W. Roberts, Simon J. Bennett, Digby Elliott, Spencer J. Hayes
2012 European Journal of Sport Science  
In this review, we describe 6 the multi-functional properties of the AON, and discuss the implications for observational 7 practice and subsequent motor learning. 8 9  ...  Based 2 on this suggestion, it is reasonable to predict that observing biological motion may 3 facilitate the learning of novel motor skills.  ...  This led to 21 the 'gating hypothesis', which predicts observed stimuli believed to be biological gains imitation, it is reasonable to predict top-down processes may impact motor learning by 10 observing  ... 
doi:10.1080/17461391.2012.686063 pmid:24444215 fatcat:ctfcg7m7cre3tgjy4ugrd5tkwe

From motion capture to action capture

Bernhard Jung, Heni Ben Amor, Guido Heumer, Matthias Weber
2006 Proceedings of the ACM symposium on Virtual reality software and technology - VRST '06  
The idea of action capture is inspired by human imitation learning; related methods have been investigated for a longer time in robotics.  ...  As an advantage, the learned actions can often be naturally applied to varying situations, thus avoiding retargetting problems of motion capture.  ...  As in motion capture, the goal of her imitation learning approach consists of the humanoid agents repeating the movements of the human trainer.  ... 
doi:10.1145/1180495.1180526 dblp:conf/vrst/JungAHW06 fatcat:y2dgpq4kkbgmnajve3sn7jbfdy

DexMV: Imitation Learning for Dexterous Manipulation from Human Videos [article]

Yuzhe Qin, Yueh-Hua Wu, Shaowei Liu, Hanwen Jiang, Ruihan Yang, Yang Fu, Xiaolong Wang
2021 arXiv   pre-print
In this paper, we propose a new platform and pipeline DexMV (Dexterous Manipulation from Videos) for imitation learning.  ...  We then apply and compare multiple imitation learning algorithms with the demonstrations.  ...  Imitation Learning from Human Demonstrations. Imitation learning is a promising paradigm for robot learning.  ... 
arXiv:2108.05877v4 fatcat:ipgztyqbargrhpu6svi2yvapdy

Learning from Humans [chapter]

Aude G. Billard, Sylvain Calinon, Rüdiger Dillmann
2016 Springer Handbook of Robotics  
The field is best known as robot programming by demonstration, robot learning from/by demonstration, apprenticeship learning and imitation learning.  ...  We then summarize the various approaches taken to solve four main questions: when, what, who and when to imitate.  ...  Based on the subsymbolic goal and constraint descriptions, the robot can reason to adapt the strategy to changes in object location, obstacle occurrence, and varying start configurations.  ... 
doi:10.1007/978-3-319-32552-1_74 fatcat:wtcftkgkwveexpfbmnkcebi5wu

Learning nonparametric policies by imitation

D.B. Grimes, R.P.N. Rao
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
A long cherished goal in artificial intelligence has been the ability to endow a robot with the capacity to learn and generalize skills from watching a human teacher.  ...  Such an ability to learn by imitation has remained hard to achieve due to a number of factors, including the problem of learning in high-dimensional spaces and the problem of uncertainty.  ...  The motion was learned via imitating by observing a human demonstrator perform the desired motion. Using an inference-based motion planning algorithm a stable imitative motion is obtained.  ... 
doi:10.1109/iros.2008.4650778 dblp:conf/iros/GrimesR08 fatcat:2kplfe3dkvf4je6ldjmnczmqxi

Towards a Real-Time Bayesian Imitation System for a Humanoid Robot

Aaron P. Shon, Joshua J. Storz, Rajesh P. N. Rao
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
Imitation learning, or programming by demonstration (PbD), holds the promise of allowing robots to acquire skills from humans with domain-specific knowledge, who nonetheless are inexperienced at programming  ...  We have prototyped a real-time, closed-loop system for teaching a humanoid robot to interact with objects in its environment.  ...  We thank David Grimes, Keith Grochow, and Danny Rashid for their helpful advice and assistance with the motion capture and collision detection components.  ... 
doi:10.1109/robot.2007.363903 dblp:conf/icra/ShonSR07 fatcat:z5u7djtbmzaobph3tm4fvdyxye

Preface

Shuzhi Sam Ge, Oussama Khatib
2017 International Journal of Social Robotics  
The authors present a robust regression-based refining algorithm, which provides highperformance motion perception for online imitation of the humanoid robot.  ...  The sixth paper "Robust Regression-Based Motion Perception for Online Imitation on Humanoid Robot" (by Tehao Zhu, Qunfei Zhao, Weibing Wan and Zeyang Xia) focuses on the elimination of the outliers and  ... 
doi:10.1007/s12369-017-0438-3 fatcat:we4drzcx5ben5pqnlzdhegfarq

Review of the techniques used in motor‐cognitive human‐robot skill transfer

Yuan Guan, Ning Wang, Chenguang Yang
2021 Cognitive Computation and Systems  
Based on the idea of establishing a generic or specialised robot skill library, robots are expected to autonomously reason about the needs for using skills and plan compound movements according to sensory  ...  Skill transfer methods that are commonly used at present, such as learning from demonstrated (LfD) or imitation learning, endow the robot with the expert's lowlevel motor and high-level decision-making  ...  Imitation and emulation as two common imitative behaviours are the motion/action copier and goal/final effect copier, respectively.  ... 
doi:10.1049/ccs2.12025 fatcat:yqw4nekt45fx5kp3cgwrtax2fy

A GAN-Like Approach for Physics-Based Imitation Learning and Interactive Character Control [article]

Pei Xu, Ioannis Karamouzas
2021 arXiv   pre-print
The classifiers are trained to discriminate the reference motion from the motion generated by the imitation policy, while the policy is rewarded for fooling the discriminators.  ...  Our work builds upon generative adversarial networks (GAN) and reinforcement learning, and introduces an imitation learning framework where an ensemble of classifiers and an imitation policy are trained  ...  DeepMimic [Peng et al. 2018 ] enables a physics-based character to exhibit various motion skills learned from artistauthored animation and motion capture data by combining imitation learning with goal-conditioned  ... 
arXiv:2105.10066v1 fatcat:5meb546ob5ga3ljm4ieptf3aae

Atypical biological motion kinematics are represented by complementary lower-level and top-down processes during imitation learning

Spencer J. Hayes, Chris A. Dutoy, Digby Elliott, Emma Gowen, Simon J. Bennett
2016 Acta Psychologica  
Top-down factors have the potential to influence this process based on the social context, attention and salience, and the goal of the movement.  ...  imitation of biological motion protocol.  ...  We concur with this reasoning and suggest the finding of temporal correspondence between the model and imitation of atypical biological motion was in part based on the online visual 14 processing of such  ... 
doi:10.1016/j.actpsy.2015.10.005 pmid:26587962 fatcat:lj6jiqot6ndntfji3dldwebvem

Robot Programming by Demonstration [chapter]

Aude Billard, Sylvain Calinon, Rüdiger Dillmann, Stefan Schaal
2008 Springer Handbook of Robotics  
First and foremost, PbD, also referred to as imitation learning, is a powerful mechanism for reducing the complexity of search spaces for learning.  ...  Imitation learning is, thus, a powerful tool for enhancing and accelerating learning in both animals and artifacts.  ... 
doi:10.1007/978-3-540-30301-5_60 fatcat:abqi5btx6bhl7gbp5doqvs4icq

Vision-Based Imitation Learning in Heterogeneous Multi-Robot Systems: Varying Physiology and Skill

Jeff Allen, John Eric Anderson, Jacky Baltes
2012 International Journal of Automation and Smart Technology  
Imitation learning enables a learner to improve its abilities by observing others.  ...  Most robotic imitation learning systems only learn from demonstrators that are similar physically and in terms of skill level.  ...  Any learning robot must begin with a set of simple motion primitives from which it can base more sophisticated behaviors.  ... 
doi:10.5875/ausmt.v2i2.111 fatcat:bjiehyih7rgwbnbckg47wcrski

Simitate: A Hybrid Imitation Learning Benchmark [article]

Raphael Memmesheimer, Ivanna Mykhalchyshyna, Viktor Seib, Dietrich Paulus
2019 arXiv   pre-print
We present Simitate --- a hybrid benchmarking suite targeting the evaluation of approaches for imitation learning.  ...  A benchmarking suite that aims at fostering comparability and reproducibility supports the development of imitation learning approaches.  ...  Lisboa, Portugal for enabling us to use the certified testbed and supporting us in the use of the motion capturing system.  ... 
arXiv:1905.06002v1 fatcat:iryzx2jdiff23dgxbyqfm3sem4
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